CN105806352A - Camera-based navigating instrument operation method high in real-time performance and accuracy - Google Patents
Camera-based navigating instrument operation method high in real-time performance and accuracy Download PDFInfo
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- CN105806352A CN105806352A CN201610382701.5A CN201610382701A CN105806352A CN 105806352 A CN105806352 A CN 105806352A CN 201610382701 A CN201610382701 A CN 201610382701A CN 105806352 A CN105806352 A CN 105806352A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to a camera-based navigating instrument operation method high in real-time performance and accuracy.The operation method includes that if a current vehicle is on a main road and an exit leading to a relief road on the right side of the main road exists within 2 Km in front of the current vehicle, a CPU (central processing unit) of the navigating instrument acquires traffic lane images on the main road in real time through a camera arranged behind the current vehicle to judge whether the current vehicle is in the rightmost traffic lane of the main road or not; if the current vehicle is in the rightmost traffic lane of the main road, the CPU judges whether or not a traffic lane line in the images deflects clockwise in real time when the current vehicle is about to arrive at the exit, and if yes, the CPU judges that the current vehicle enters the relief road, and the navigating instrument matches a current driving path to the relief road; if not, the CPU judges that the current vehicle is still on the main road.
Description
The application is divisional application, the application number of parent application: 201210173021.4, title: the matching process of the road main and side road of navigator, the applying date: 2012-05-30.
Technical field
The present invention relates to the technical field of the method for work of navigator, specifically a kind of navigator is according to the road fare matching process to road main and side road.
Background technology
Often there is main and auxiliary road in existing arterial street, such as Pekinese's bicyclo-three ring and Fourth Ring, and the permission motor vehicles that loop is closed is such, is main road；Main road generally comprises: overpass, highway etc..Bypass is exactly outside enclosed area, adjacent main road, is connected with other branch roads.
Carry out in the process of path adaptation and navigation utilizing GPS navigator, some errors or interference is often there is on the one hand due to gps signal, cause that existing navigator often cannot be distinguished by adjacent and parallel main and side road, cause can not accurate match as the road at vehicle (being commonly called as: the Current vehicle) place of its carrier, and then have impact on the accuracy of navigation and real-time (that is: existing navigator cannot accurately judge in real time Current vehicle whether on main road, the whether already out main road of Current vehicle cannot be judged and enter as on bypass to be diverted).
The existing vehicle being configured with navigator, is often provided with the photographic head being connected with described navigator in the rear end of this vehicle, and to be shown the image shot by the display screen of navigator, it is used primarily to ensure reversing safety or realizes the functions such as automatic backing.
How described photographic head and navigator are combined, to solve the matching problem on the main and auxiliary road on guidance path, be that this area did not relate to.
Summary of the invention
The technical problem to be solved in the present invention is to provide the matching process of the road main and side road of a kind of real-time and the higher navigator of accuracy.
For solving above-mentioned technical problem, the matching process of the road main and side road of navigator provided by the invention includes: if Current vehicle is on a main road, and the outlet of the bypass on the right side of this main road is led in existence one in the 2Km in Current vehicle front, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described main road in real time, to judge that Current vehicle is whether in the runway of the rightmost side of described main road；If Current vehicle is in the runway of the rightmost side of described main road, then when being about to arrive described outlet, whether the driving diatom in image described in real-time judge there is deflection clockwise, if deflection clockwise occurs described driving diatom, then CPU judges that Current vehicle enters described bypass；Navigator is by current driving route matching to described bypass；If deflection clockwise does not occur described driving diatom, then judge that Current vehicle is still on described main road.
As preferred scheme, if described driving diatom occurs the angle of deflection clockwise more than 5 °, then judge that Current vehicle enters described bypass；To judge further accurately Current vehicle whether lane change and to enter described bypass.
When being embodied as, described CPU first extracts the right lane line on the right side of the adjacent vehicle in this image after obtaining the runway image on described main road, and whether the rear, right side then analyzing this right lane line in the picture exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the rightmost side of described main road；Otherwise, then judge that Current vehicle is not in the runway of the rightmost side of described main road.
The matching process of the road main and side road of another kind of navigator, if comprising: Current vehicle is on a main road, and the outlet of the bypass on the right side of this main road is led in existence one in the 2Km in Current vehicle front, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described main road in real time, to judge that Current vehicle is whether in the runway of the rightmost side of described main road；If Current vehicle is in the runway of the rightmost side of described main road, then when being about to arrive described outlet, described CPU is in real time by whether the steering indicating light driving lever of a sensor detection Current vehicle is stirred to the right；If recording described steering indicating light driving lever to occur to stir to the right, then CPU judges that Current vehicle enters described bypass；Navigator is by current driving route matching to described bypass；If described steering indicating light driving lever does not occur to stir to the right, then judge that Current vehicle is still on described main road.
The matching process of the road main and side road of the third navigator, it is characterized in that including: if Current vehicle is on a bypass, and it is adjacent with this bypass to there is a main road, in the 1.5Km in Current vehicle front, the entrance of the main road on the left of this bypass is led in existence one simultaneously, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described bypass in real time, to judge that Current vehicle is whether in the runway of the leftmost side of described bypass；If Current vehicle is in the runway of the leftmost side of described bypass, then when being about to arrive described entrance, whether the driving diatom in image described in real-time judge there is deflection counterclockwise, if deflection counterclockwise occurs described driving diatom, then CPU judges that Current vehicle enters described main road；Navigator is with regard in current driving route matching to described main road；If deflection counterclockwise does not occur described driving diatom, then judge that Current vehicle is still on described bypass.
Further, described CPU first extracts the left lateral lane line on the left of the adjacent vehicle in this image after obtaining the runway image on described bypass, and whether the rear, left side then analyzing this left lateral lane line in the picture exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the leftmost side of described bypass；Otherwise, then judge that Current vehicle is not in the runway of the leftmost side of described bypass.
The matching process of the road main and side road of the 4th kind of navigator, if comprising: Current vehicle is on a bypass, and it is adjacent with this bypass to there is a main road, in the 1.5Km in Current vehicle front, the entrance of the main road on the left of this bypass is led in existence one simultaneously, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described bypass in real time, to judge that Current vehicle is whether in the runway of the leftmost side of described bypass；If Current vehicle is in the runway of the leftmost side of described bypass, then when being about to arrive described entrance, described CPU is in real time by whether the steering indicating light driving lever of a sensor detection Current vehicle is stirred to the left；If recording described steering indicating light driving lever to occur to stir to the left, then CPU judges that Current vehicle enters described main road；Navigator is by current driving route matching to described main road；If described steering indicating light driving lever does not occur to stir to the left, then judge that Current vehicle is still on described bypass.
The technique effect that the present invention has: the road matching method of the navigator of the present invention, photographic head mainly through being located at rear vehicle end judges the runway at Current vehicle place, then pass through the angle change in captured image or video of the driving diatom, judge that whether vehicle occurs to turn to accordingly at the gateway place of main road, and then judge whether Current vehicle enters or leave main road.Alternatively, adopt the action of detection steering indicating light driving lever, judge that whether vehicle occurs to turn to accordingly at the gateway place of main road, and then judge whether Current vehicle enters or leave main road.These methods have the advantages that step is simple, reliability is higher.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to specific embodiment and in conjunction with accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the structured flowchart of the navigator of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
Embodiment 1
Such as Fig. 1, the navigator of the present embodiment includes: CPU, be connected with this CPU touch display screen, the GPS unit being connected with this CPU, the program data base being connected with this CPU, with this CPU photographic head being connected and the map data base that is connected with this CPU.In map data base, storage has road routing information, and road routing information includes the attribute in each section, and this attribute includes whether corresponding section is main road or bypass, and the whether information such as adjacent between main and auxiliary road.
The method of work of above-mentioned navigator includes:
If Current vehicle is on a main road, and the outlet of the bypass on the right side of this main road is led in existence one in the 2Km in Current vehicle front, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described main road in real time, to judge that Current vehicle is whether in the runway of the rightmost side of described main road；If Current vehicle is in the runway of the rightmost side of described main road, then when being about to arrive described outlet (being generally in this outlet 50m), whether the driving diatom in image described in real-time judge there is deflection clockwise, if deflection clockwise occurs described driving diatom, then CPU judges that Current vehicle enters described bypass；Navigator is by current driving route matching to described bypass；If deflection clockwise does not occur described driving diatom, then judge that Current vehicle is still on described main road.
For improving the correctness of judgement further, if described driving diatom occurs the angle of deflection clockwise more than 5 °, then judge that Current vehicle enters described bypass.
After described CPU obtains the runway image on described main road, for improving the correctness and convenience judged, it is possible to first judge whether the right side analyzing this right lane line in described runway image exists road guard or plant；If there is road guard or plant, then judge that Current vehicle is in the runway of the rightmost side of described main road.If being absent from road guard or plant, then first extracting the right lane line on the right side of the adjacent vehicle in this image, whether the rear, right side then analyzing this right lane line in described image exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the rightmost side of described main road；Otherwise, then judge that Current vehicle is not in the runway of the rightmost side of described main road.
When whether the right side of the right lane line judged on the right side of contiguous Current vehicle exists road guard or plant, by color, or adopt the mode compared with the multiple model of the road guard being pre-stored in described map data base or plant, judge.
Embodiment 2
On the basis of embodiment 1, the navigator of the present embodiment also includes: the steering indicating light driving lever sensor being connected with this CPU, steering indicating light driving lever sensor adopts and the described CPU magnetic induction switch being connected or toggle switch, whether is used for the steering indicating light driving lever detecting Current vehicle in zero-bit, left steering position or right turn position.
On the basis of embodiment 1, there is following modification in the matching process of the road main and side road of the navigator of the present embodiment:
The method of work of the navigator of the present embodiment includes: if Current vehicle is on a main road, and the outlet of the bypass on the right side of this main road is led in existence one in the 2Km in Current vehicle front, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described main road in real time, to judge that Current vehicle is whether in the runway of the rightmost side of described main road；If Current vehicle is in the runway of the rightmost side of described main road, then when being about to arrive described outlet (being generally in this outlet 50m), described CPU is in real time by whether the steering indicating light driving lever of described steering indicating light driving lever sensor detection Current vehicle is stirred to the right；If recording described steering indicating light driving lever to occur to stir to the right, then CPU judges that Current vehicle enters described bypass；Navigator is by current driving route matching to described bypass；If described steering indicating light driving lever does not occur to stir to the right, then judge that Current vehicle is still on described main road.
Embodiment 3
The matching process of the road main and side road of the navigator of the present embodiment includes: if Current vehicle is on a bypass, and it is adjacent with this bypass to there is a main road, in the 1.5Km in Current vehicle front, the entrance of the main road on the left of this bypass is led in existence one simultaneously, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described bypass in real time, to judge that Current vehicle is whether in the runway of the leftmost side of described bypass；If Current vehicle is in the runway of the leftmost side of described bypass, then when being about to arrive described entrance (being generally in this outlet 30 to 40m), whether the driving diatom in image described in real-time judge there is deflection counterclockwise, if deflection counterclockwise occurs described driving diatom, then CPU judges that Current vehicle enters described main road；Navigator is with regard in current driving route matching to described main road；If deflection counterclockwise does not occur described driving diatom, then judge that Current vehicle is still on described bypass.
If described driving diatom occurs the angle of deflection counterclockwise more than 5 °, then judge that Current vehicle enters described main road.
For improving the correctness and convenience judged, after described CPU obtains the runway image on described bypass, whether the left side first analyzing the left lateral lane line on the left of contiguous Current vehicle in described runway image exists road guard or plant；If there is road guard or plant, then judge: Current vehicle is in the runway of the leftmost side of described bypass.If being absent from road guard or plant, then first extracting the left lateral lane line on the left of the adjacent vehicle in this image, whether the rear, left side then analyzing this left lateral lane line in the picture exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the leftmost side of described bypass；Otherwise, then judge that Current vehicle is not in the runway of the leftmost side of described bypass.
When whether the left side of the left lateral lane line judged on the left of contiguous Current vehicle exists road guard or plant, by color, or adopt the mode compared with the model of road guard or plant, judge.
Embodiment 4
The matching process of the road main and side road of the navigator of the present embodiment, if comprising: Current vehicle is on a bypass, and it is adjacent with this bypass to there is a main road, in the 1.5Km in Current vehicle front, the entrance of the main road on the left of this bypass is led in existence one simultaneously, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described bypass in real time, to judge that Current vehicle is whether in the runway of the leftmost side of described bypass；If Current vehicle is in the runway of the leftmost side of described bypass, then when being about to arrive described entrance, described CPU is in real time by whether the steering indicating light driving lever of a steering indicating light driving lever sensor detection Current vehicle is stirred to the left；If recording described steering indicating light driving lever to occur to stir to the left, then CPU judges that Current vehicle enters described main road；Navigator is by current driving route matching to described main road；If described steering indicating light driving lever does not occur to stir to the left, then judge that Current vehicle is still on described bypass.
Described photographic head is located at Current vehicle rear-center place, after described CPU obtains described runway image, analyses whether there is a pair driving diatom respectively in predeterminable area in the picture；If there is a pair driving diatom respectively in predeterminable area, then judge that Current vehicle is in a runway；Otherwise, then the Current vehicle central authorities at adjacent a pair runway are judged.
Obviously, above-described embodiment is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change that these spirit belonging to the present invention are extended out or variation are still among protection scope of the present invention.
Claims (1)
1. the matching process of the road main and side road of a navigator, it is characterised in that including:
If Current vehicle is on a bypass, and it is adjacent with this bypass to there is a main road, in the 1.5Km in Current vehicle front, the entrance of the main road on the left of this bypass is led in existence one simultaneously, then the CPU of navigator is by being located at the runway image that the photographic head at Current vehicle rear obtains on described bypass in real time, to judge that Current vehicle is whether in the runway of the leftmost side of described bypass；
If Current vehicle is in the runway of the leftmost side of described bypass, then when being about to arrive described entrance, whether the driving diatom in image described in real-time judge there is deflection counterclockwise, if deflection counterclockwise occurs described driving diatom, then CPU judges that Current vehicle enters described main road；Navigator is with regard in current driving route matching to described main road；
If deflection counterclockwise does not occur described driving diatom, then judge that Current vehicle is still on described bypass；If described driving diatom occurs the angle of deflection counterclockwise more than 5 °, then judge that Current vehicle enters described main road；
Described CPU first extracts the left lateral lane line on the left of the adjacent vehicle in this image after obtaining the runway image on described bypass, and whether the rear, left side then analyzing this left lateral lane line in the picture exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the leftmost side of described bypass；Otherwise, then judge that Current vehicle is not in the runway of the leftmost side of described bypass；
After described CPU obtains the runway image on described bypass, whether the left side first analyzing the left lateral lane line on the left of contiguous Current vehicle in described runway image exists road guard or plant；If there is road guard or plant, then judge: Current vehicle is in the runway of the leftmost side of described bypass；If being absent from road guard or plant, then first extracting the left lateral lane line on the left of the adjacent vehicle in this image, whether the rear, left side then analyzing this left lateral lane line in the picture exists another driving diatom；If being absent from another driving diatom, then judge that Current vehicle is in the runway of the leftmost side of described bypass；Otherwise, then judge that Current vehicle is not in the runway of the leftmost side of described bypass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382701.5A CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382701.5A CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
| CN201210173021.4A CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210173021.4A Division CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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| CN105806352A true CN105806352A (en) | 2016-07-27 |
| CN105806352B CN105806352B (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410212859.9A Active CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
| CN201610382701.5A Active CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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| CN201410212859.9A Active CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
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| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103954292B (en) * | 2012-05-30 | 2017-02-22 | 常州市新科汽车电子有限公司 | Navigator-based method for matching main road and side road of road according to traffic lane line |
| CN104567887A (en) * | 2014-12-19 | 2015-04-29 | 百度在线网络技术（北京）有限公司 | Path matching method and device |
| CN107097795A (en) * | 2017-04-21 | 2017-08-29 | 上海电机学院 | A kind of deviation alarm equipment of low wrong report |
| CN109425350A (en) * | 2017-08-24 | 2019-03-05 | 阿里巴巴集团控股有限公司 | Road positioning, road switching deciding method, device, equipment and storage medium |
| CN109631925B (en) * | 2018-12-21 | 2020-11-10 | 斑马网络技术有限公司 | Main and auxiliary road determining method and device, storage medium and electronic equipment |
| CN109657641B (en) * | 2018-12-29 | 2021-02-02 | 北京经纬恒润科技股份有限公司 | Method and device for judging main road and auxiliary road of vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103954293A (en) | 2014-07-30 |
| CN102661747B (en) | 2014-11-05 |
| CN102661747A (en) | 2012-09-12 |
| CN105806352B (en) | 2018-09-07 |
| CN103954293B (en) | 2016-10-05 |
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